meshes/new_prop.mtl

+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl mat_1
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_10
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_11
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_12
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_13
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_14
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_15
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_2
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_3
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_4
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_5
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_6
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_7
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_8
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_9
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1

meshes/new_waterstrider.mtl

+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl mat_1
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_10
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_11
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_12
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_13
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_14
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_15
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_2
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_3
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_4
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_5
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_6
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_7
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_8
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_9
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1

meshes/untitled.mtl

+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org

meshes/untitled.obj

+# Blender 4.3.2
+# www.blender.org
+mtllib untitled.mtl

src/thrusters_controller_node.cpp

@@ -126,7 +126,7 @@ public:
             assert(r.size() == 3);
 
             std::vector<double> input = declare_parameter<std::vector<double>>("thrusters." + t.first + ".input");
-            std::vector<double> output = declare_parameter<std::vector<double>>("thrusters." + t.first + ".output");
+            std::vector<double> output = declare_parameter<std::vector<double>>("thrusters." + t.first + ".sim_output");
 
             auto pub = this->create_publisher<uuv_gazebo_ros_plugins_msgs::msg::FloatStamped>("thrusters/" + t.first, 1);
 

urdf/sensor_snippets.xacro

@@ -2,21 +2,21 @@
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <xacro:macro name="default_camera_lightweight" params="namespace parent_link suffix *origin">
+    <xacro:macro name="default_camera_lightweight" params="namespace parent_link suffix rate hfov width height *origin">
         <xacro:regular_camera_plugin_macro
-        namespace="${namespace}"
-        suffix="${suffix}"
-        parent_link="${parent_link}"
-        topic="camera"
-        mass="0.001"
-        update_rate="20"
-        hfov="1.5125"
-        width="640"
-        height="480"
-        stddev="0.0"
-        scale="0.4">
-        <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
-        <xacro:insert_block name="origin" />
+            namespace="${namespace}"
+            suffix="${suffix}"
+            parent_link="${parent_link}"
+            topic="camera"
+            mass="0.001"
+            update_rate="${rate}"
+            hfov="${hfov}"
+            width="${width}"
+            height="${height}"
+            stddev="0.0"
+            scale="1">
+            <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
+            <xacro:insert_block name="origin" />
         </xacro:regular_camera_plugin_macro>
     </xacro:macro>
 

urdf/waterstrider.gazebo.xacro

@@ -42,9 +42,9 @@
               <height>0.256</height>
           </box>
           <center_of_buoyancy>${cob}</center_of_buoyancy>
-            <metacentric_width>0.448</metacentric_width>
-            <metacentric_length>5</metacentric_length>
-            <submerged_height>0.22</submerged_height>
+            <metacentric_width>0.224</metacentric_width>
+            <metacentric_length>50</metacentric_length>
+            <submerged_height>0.12</submerged_height>
             <hydrodynamic_model>
                 <type>fossen</type>
                 <added_mass>
@@ -53,13 +53,13 @@
                      0   0   0.1 0   0   0
                      0   0   0   0.1 0   0
                      0   0   0   0   0.1 0
-                     0   0   0   0   0   1
+                     0   0   0   0   0   0.1
                 </added_mass>
                 <linear_damping>
-                    -20 -20 -20 -20 -20 -20
+                    -0 -20 -20 -20 -20 -1.5
                 </linear_damping>
                 <quadratic_damping>
-                    -10.0 -10.0 -10.0 -50.0 -50.0 -50.0
+                    -20.0 -10.0 -10.0 -50.0 -50.0 -7.0
                 </quadratic_damping>
             </hydrodynamic_model>
 

urdf/waterstrider_actuators.xacro

@@ -22,7 +22,7 @@
 -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:property name="prop_mesh_file" value="file://$(find waterstridergazebo)/meshes/prop.dae"/>
+  <xacro:property name="prop_mesh_file" value="file://$(find waterstridergazebo)/meshes/untitled.obj"/>
 
   <!-- Thruster joint and link snippet -->
   <xacro:macro name="thruster_macro"
@@ -31,7 +31,7 @@
       namespace="${namespace}"
       thruster_id="${thruster_id}"
       mesh_filename="${prop_mesh_file}"
-      dyn_time_constant="0.2"
+      dyn_time_constant="0.1"
       rotor_constant="0.00124">
       <xacro:insert_block name="origin"/>
     </xacro:thruster_module_first_order_basic_fcn_macro>

urdf/waterstrider_base.xacro

@@ -43,7 +43,7 @@
   <xacro:property name="prop_mesh_file" value="file://$(find waterstridergazebo)/meshes/prop.dae"/>
 
   <!-- Mass, see p.28 in Berg2012 -->
-  <xacro:property name="mass" value="8.0"/>
+  <xacro:property name="mass" value="10.0"/>
 
   <xacro:macro name="waterstrider_base" params="namespace *gazebo inertial_reference_frame">
     <!-- base_link according to ROS conventions: x forward, z up -->

urdf/waterstrider_sensors.xacro

@@ -21,47 +21,28 @@
      limitations under the License.
 -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <!-- DVL  -->
-  <xacro:default_dvl_macro
-    namespace="${namespace}"
-    parent_link="${namespace}/base_link"
-    inertial_reference_frame="${inertial_reference_frame}">
-    <origin xyz="0 0 -0" rpy="0 ${0.5*pi} 0"/>
-  </xacro:default_dvl_macro>
-
-  <!-- IMU  -->
-  <xacro:default_imu_macro
-    namespace="${namespace}"
-    parent_link="${namespace}/base_link"
-    inertial_reference_frame="${inertial_reference_frame}">
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-  </xacro:default_imu_macro>
-
-  <!-- Mount a sonar -->
-  <xacro:default_echosounder namespace="${namespace}" parent_link="${namespace}/base_link" suffix="_echo">
-    <origin xyz="0 0 0" rpy="0 ${90 * d2r} 0" />
-  </xacro:default_echosounder>
-
-  <!-- Mount a GPS. -->
-  <xacro:default_gps namespace="${namespace}" parent_link="${namespace}/base_link" />
-
-  <!-- Mount a Pose 3D sensor. -->
-  <xacro:default_pose_3d_macro
-    namespace="${namespace}"
-    parent_link="${namespace}/base_link"
-    inertial_reference_frame="${inertial_reference_frame}" />
-
   <!-- Mount a camera -->
-  <xacro:default_camera_lightweight namespace="${namespace}" parent_link="${namespace}/base_link" suffix="_front_cam">
-    <origin xyz="0.2 0 0.2" rpy="0 0 0"/>
+  <!--fov 90 1.5707963267948966, 120 2.0943951023931953 (bad work), 170 2.9670597283903604 (bad work)-->
+  <xacro:default_camera_lightweight 
+    namespace="${namespace}" 
+    parent_link="${namespace}/base_link" 
+    suffix="_front"
+    rate="20"
+    hfov="2.0943951023931953" 
+    width="640"
+    height="480">
+    <origin xyz="0.10 0 0.25" rpy="0 0 0"/>
   </xacro:default_camera_lightweight>
 
-  <xacro:default_camera_lightweight namespace="${namespace}" parent_link="${namespace}/base_link" suffix="_down_cam">
-    <origin xyz="0.2 0 -0.1" rpy="0 ${90 * d2r} 0"/>
-  </xacro:default_camera_lightweight>
-
-  <xacro:default_camera_lightweight namespace="${namespace}" parent_link="${namespace}/base_link" suffix="_side_cam">
-    <origin xyz="0.195 0.2 0.2" rpy="0 0 ${90 * d2r}"/>
+  <xacro:default_camera_lightweight 
+    namespace="${namespace}"
+    parent_link="${namespace}/base_link"
+    suffix="_down"
+    rate="20"
+    hfov="2.0943951023931953"
+    width="640"
+    height="480">
+    <origin xyz="-0.2 0 -0.05" rpy="0 ${90 * d2r} 0"/>
   </xacro:default_camera_lightweight>
 
 </robot>